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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2025, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_ |
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#define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_ |
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#include "crocoddyl/core/residual-base.hpp" |
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#include "crocoddyl/multibody/data/contacts.hpp" |
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#include "crocoddyl/multibody/states/multibody.hpp" |
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namespace crocoddyl { |
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/** |
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* @brief Control gravity residual under contact |
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* |
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* This residual function is defined as |
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* \f$\mathbf{r}=\mathbf{u}-(\mathbf{g}(\mathbf{q}) - \sum |
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* \mathbf{J}_c(\mathbf{q})^{\top} \mathbf{f}_c)\f$, where |
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* \f$\mathbf{u}\in~\mathbb{R}^{nu}\f$ is the current control input, |
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* \f$\mathbf{J}_c(\mathbf{q})\f$ is the contact Jacobians, \f$\mathbf{f}_c\f$ |
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* contains the contact forces, \f$\mathbf{g}(\mathbf{q})\f$ is the gravity |
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* torque corresponding to the current configuration, |
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* \f$\mathbf{q}\in~\mathbb{R}^{nq}\f$ is the current position joints input. |
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* Note that the dimension of the residual vector is obtained from |
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* `state->get_nv()`. |
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* |
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* As described in `ResidualModelAbstractTpl()`, the residual value and its |
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* Jacobians are calculated by `calc()` and `calcDiff()`, respectively. |
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* |
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* \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` |
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*/ |
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template <typename _Scalar> |
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class ResidualModelContactControlGravTpl |
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: public ResidualModelAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelContactControlGravTpl) |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ResidualModelAbstractTpl<Scalar> Base; |
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typedef ResidualDataContactControlGravTpl<Scalar> Data; |
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typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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/** |
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* @brief Initialize the contact control gravity contact residual model |
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* |
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* @param[in] state State of the multibody system |
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* @param[in] nu Dimension of the control vector |
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*/ |
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ResidualModelContactControlGravTpl(std::shared_ptr<StateMultibody> state, |
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const std::size_t nu); |
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/** |
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* @brief Initialize the contact control gravity contact residual model |
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* |
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* The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. |
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* |
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* @param[in] state State of the multibody system |
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*/ |
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explicit ResidualModelContactControlGravTpl( |
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std::shared_ptr<StateMultibody> state); |
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virtual ~ResidualModelContactControlGravTpl() = default; |
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/** |
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* @brief Compute the contact control gravity contact residual |
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* |
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* @param[in] data Contact control gravity residual data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override; |
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/** |
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* @brief Compute the residual vector for nodes that depends only on the state |
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* |
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* It updates the residual vector based on the state only (i.e., it ignores |
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* the contact forces). This function is used in the terminal nodes of an |
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* optimal control problem. |
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* |
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* @param[in] data Residual data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) override; |
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/** |
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* @brief Compute the Jacobians of the contact control gravity contact |
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* residual |
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* |
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* @param[in] data Contact control gravity residual data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override; |
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/** |
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* @brief Compute the Jacobian of the residual functions with respect to the |
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* state only |
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* |
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* It updates the Jacobian of the residual function based on the state only |
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* (i.e., it ignores the contact forces). This function is used in the |
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* terminal nodes of an optimal control problem. |
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* |
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* @param[in] data Residual data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) override; |
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/** |
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* @brief Create the contact-control-gravity residual data |
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*/ |
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virtual std::shared_ptr<ResidualDataAbstract> createData( |
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DataCollectorAbstract* const data) override; |
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/** |
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* @brief Cast the contact-control-gravity residual model to a different |
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* scalar type. |
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* |
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* It is useful for operations requiring different precision or scalar types. |
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* |
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* @tparam NewScalar The new scalar type to cast to. |
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* @return ResidualModelContactControlGravTpl<NewScalar> A residual model with |
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* the new scalar type. |
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*/ |
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template <typename NewScalar> |
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ResidualModelContactControlGravTpl<NewScalar> cast() const; |
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/** |
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* @brief Print relevant information of the contact-control-grav residual |
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* |
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* @param[out] os Output stream object |
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*/ |
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virtual void print(std::ostream& os) const override; |
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protected: |
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using Base::nu_; |
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using Base::state_; |
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using Base::v_dependent_; |
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private: |
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typename StateMultibody::PinocchioModel pin_model_; |
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}; |
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template <typename _Scalar> |
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struct ResidualDataContactControlGravTpl |
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: public ResidualDataAbstractTpl<_Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ResidualDataAbstractTpl<Scalar> Base; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; |
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template <template <typename Scalar> class Model> |
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ResidualDataContactControlGravTpl(Model<Scalar>* const model, |
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DataCollectorAbstract* const data) |
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: Base(model, data) { |
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StateMultibody* sm = static_cast<StateMultibody*>(model->get_state().get()); |
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pinocchio = PinocchioData(*(sm->get_pinocchio().get())); |
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// Check that proper shared data has been passed |
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DataCollectorActMultibodyInContactTpl<Scalar>* d = |
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dynamic_cast<DataCollectorActMultibodyInContactTpl<Scalar>*>(shared); |
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if (d == NULL) { |
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throw_pretty( |
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"Invalid argument: the shared data should be derived from " |
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"DataCollectorActMultibodyInContactTpl"); |
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} |
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// Avoids data casting at runtime |
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// pinocchio = d->pinocchio; |
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fext = d->contacts->fext; |
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actuation = d->actuation; |
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} |
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virtual ~ResidualDataContactControlGravTpl() = default; |
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PinocchioData pinocchio; //!< Pinocchio data |
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std::shared_ptr<ActuationDataAbstractTpl<Scalar> > |
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actuation; //!< Actuation data |
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pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> > |
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fext; //!< External spatial forces |
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using Base::r; |
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using Base::Ru; |
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using Base::Rx; |
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using Base::shared; |
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}; |
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} // namespace crocoddyl |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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#include "crocoddyl/multibody/residuals/contact-control-gravity.hxx" |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( |
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crocoddyl::ResidualModelContactControlGravTpl) |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( |
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crocoddyl::ResidualDataContactControlGravTpl) |
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#endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_ |
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